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Mar 1st, 2023
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  1. loadrt scale count=1
  2. addf scale.0 servo-thread
  3. setp scale.0.gain 0.00166
  4. net spindle-speed-scale spindle.0.speed-out => scale.0.in
  5. net spindle-speed-DAC scale.0.out => hm2_7i97.0.pwmgen.05.value
  6.  
  7.  
  8. setp pid.s.Pgain [SPINDLE_0]P
  9. setp pid.s.Igain [SPINDLE_0]I
  10. setp pid.s.Dgain [SPINDLE_0]D
  11. setp pid.s.bias [SPINDLE_0]BIAS
  12. setp pid.s.FF0 [SPINDLE_0]FF0
  13. setp pid.s.FF1 [SPINDLE_0]FF1
  14. setp pid.s.FF2 [SPINDLE_0]FF2
  15. setp pid.s.deadband [SPINDLE_0]DEADBAND
  16. setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
  17. setp pid.s.error-previous-target true
  18.  
  19.  
  20. # --- SPINDLE-ENABLE ---
  21. net spindle-enable => hm2_7i97.0.pwmgen.05.enable
  22.  
  23. # --- SPINDLE-CW ---
  24. net spindle-cw => hm2_7i97.0.ssr.00.out-01
  25.  
  26. # --- SPINDLE-CCW ---
  27. net spindle-ccw => hm2_7i97.0.ssr.00.out-02
  28.  
  29.  
  30.  
  31. net spindle-index-enable => pid.s.index-enable
  32. net spindle-enable => pid.s.enable
  33. net spindle-vel-cmd-rpm => pid.s.command
  34. net spindle-vel-fb-rpm => pid.s.feedback
  35. net spindle-output <= pid.s.output
  36.  
  37. # ---setup spindle control signals---
  38.  
  39.  
  40.  
  41. net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
  42. net spindle-enable <= spindle.0.on
  43. net spindle-cw <= spindle.0.forward
  44. net spindle-ccw <= spindle.0.reverse
  45. net spindle-brake <= spindle.0.brake
  46. net spindle-revs => spindle.0.revs
  47. net spindle-at-speed => spindle.0.at-speed
  48. net spindle-vel-fb-rps => spindle.0.speed-in
  49. net spindle-index-enable <=> spindle.0.index-enable
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